CN1678893A - Method and device for determining a force exercised by the ground on a wheel - Google Patents

Method and device for determining a force exercised by the ground on a wheel Download PDF

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Publication number
CN1678893A
CN1678893A CNA038182505A CN03818250A CN1678893A CN 1678893 A CN1678893 A CN 1678893A CN A038182505 A CNA038182505 A CN A038182505A CN 03818250 A CN03818250 A CN 03818250A CN 1678893 A CN1678893 A CN 1678893A
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China
Prior art keywords
wheel
relevant
main body
power
virtual
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Granted
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CNA038182505A
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CN100380108C (en
Inventor
X·于夏尔
J-Y·勒努瓦
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Michelin Recherche et Technique SA Switzerland
Compagnie Generale des Etablissements Michelin SCA
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Michelin Recherche et Technique SA Switzerland
Societe de Technologie Michelin SAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/174—Using electrical or electronic regulation means to control braking characterised by using special control logic, e.g. fuzzy logic, neural computing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/14—Independent suspensions with lateral arms
    • B60G2200/142—Independent suspensions with lateral arms with a single lateral arm, e.g. MacPherson type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/30—Spring/Damper and/or actuator Units
    • B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
    • B60G2202/312—The spring being a wound spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/11—Mounting of sensors thereon
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/11—Mounting of sensors thereon
    • B60G2204/113—Tyre related sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/14—Mounting of suspension arms
    • B60G2204/143—Mounting of suspension arms on the vehicle body or chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/64—Wheel forces, e.g. on hub, spindle or bearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/187—Digital Controller Details and Signal Treatment
    • B60G2600/1878—Neural Networks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/187—Digital Controller Details and Signal Treatment
    • B60G2600/1879—Fuzzy Logic Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/21—Traction, slip, skid or slide control
    • B60G2800/215—Traction, slip, skid or slide control by applying a braking action on each wheel individually
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/22—Braking, stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/702—Improving accuracy of a sensor signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/92—ABS - Brake Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/94—Electronic Stability Program (ESP, i.e. ABS+ASC+EMS)

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Physics & Mathematics (AREA)
  • Fuzzy Systems (AREA)
  • Automation & Control Theory (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Vehicle Body Suspensions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Disclosed is a method for determining a longitudinal force (Fx) that is exercised on a wheel (3) of a motor vehicle by a ground surface supporting said wheel, the vehicle comprising means (6) which connect the wheel to a body (5) of said vehicle. The invention is characterized by the fact that said method comprises the following steps: an actual force (FAX) is measured at the level of at least one point of measurement in said connecting means; a force (FDx; Fx) resulting from the transmission of a body-based force (FADX; FAX), which depends at least on said actual force, from the at least one point of measurement to the wheel via the connecting means is measured; and the longitudinal force (Fx) exercised by the ground surface on the wheel is calculated at least according to the force (FDx; Fx) resulting from the transmission.

Description

Be used for determining that ground acts on the method and apparatus of the power on the wheel
The present invention relates to a kind ofly be used for determining by the ground of support wheel the method and apparatus that vertically is applied to the power on the motor vehicle wheel along wheel.
Electronic system on the instrument panel is known, and it is designed for when the vehicle driver is under various types of difficult situations and offers help for him.The most known undoubtedly is ABS antiskid system and the ESP electronic control system that is used for vehicles dynamic performance.
The ABS systemic effect is in brake system, and wheel slides when preventing emergency brake.ESP also acts on brake system, it also can act on engine control system if desired, thereby improves vehicle route under the situation that danger is turned, for example when entering zig zag under high-speed case, that is, be used to offset the trend of vehicle oversteer or understeer.
The common ground of these systems is in order to strengthen the road surface holding power of motor vehicles, more properly be the operation of seeking to adapt to wheel, thereby required vertical and/or side acceleration is no more than the road of vehicle ' or the size that the surface can be delivered to this power the power of vehicle effectively by its tire.This can be on the one hand by adapting to the size of described power, on the other hand by adapting to operating parameter, damping force for example, the running of engine or the steering angle of wheel and realize.
Therefore, the control of ABS system is applied to the damping force on the vehicle, is in maximum allowable level with the longitudinal force that keeps road to act on the tire.In a kind of known method, this control is for example limited by Vg=|R ω-Ve| based on the measurement of tire sliding speed Vg, and wherein ω represents vehicle wheel rotational speed, and R represents wheel outer ring radius, and Ve represents the general speed of vehicle.
Fig. 5 has shown that coefficientoffriction is as the function of sliding speed Vg between tire and the road.The figure illustrates and have a best gliding speed Vg 0, coefficientoffriction maximum under this speed.If constant is seen in the load by the wheel support as, best gliding speed Vg 0Also make road that the acting force of tire is reached maximum, this acting force and coefficientoffriction are proportional.
If when braking under the help of service brake, the sliding speed Vg of wheel surpasses Vg 0, road begins to reduce to the acting force of tire, and the deceleration that causes vehicle trends towards reducing and the deceleration of wheel trends towards increasing.This is because during braking, the vertical contact force between ground and the wheel be the power of decelerating vehicles also be the power of drive wheels, the power of this drive wheels is opposite with the damping force that service brake applies.The result of these two kinds of trend is that sliding speed increases, and this has strengthened reducing of friction factor again.In these cases, discharge fully unless be applied to the damping force of wheel, otherwise can find that wheel will trend towards pinning fully apace, this is actually the stability of wheel.Therefore, in order to obtain the shortest may braking, damping force should be big as much as possible and sliding speed Vg be no more than Vg 0
Therefore,, adjust the ABS system usually, with basically less than Vg as safety practice 0Sliding speed scope S in the operation, as shown in Figure 5, thereby avoid critical section Vg＞Vg 0Although the opereating specification of system can reach Vg=Vg in theory 0, but in fact this does not accomplish, because Vg 0Changeability and the error measured of Vg.Therefore, known ABS system causes ground to be applied to power on the wheel less than its optimum value.
In order to overcome this shortcoming, for the ABS system, need be a kind of based on the braking force control algorithm, directly be applied to the value of the power on the wheel based on ground not based on the sliding speed value, suppose that this value is known.
The purpose of this invention is to provide a kind of method and apparatus, its ground that allows to determine exactly to support wheel from the measurement that suspension is carried out is along the especially power on the driving wheel of described wheel that vertically is applied to of wheel.
For this purpose, the invention provides a kind of method, it is used for determine supporting ground of wheel to be applied to the power on the wheel of motor vehicles, described vehicle comprises the device that connects wheel and described vehicle body, it is characterized in that described method comprises the following stage:
The level measurement actual forces of at least one measurement point in described coupling arrangement,
Calculate the power relevant with main body and be delivered to described wheel and the power that produces through described coupling arrangement from described at least one measurement point, wherein relevant with main body power depends on described actual forces at least,
The function of the power that produces as described at least transmission calculates described ground and is applied to described longitudinal force on the described wheel.
In the method, the power relevant with main body can be driving force--especially when not braking is not applied on the wheel, or resistance--and especially when not having driving moment to be applied on the wheel or driving moment independent measurement and its base value when from the actual forces of measuring, deducting.Determine that like this ground is applied to the longitudinal component of the power on the wheel, this longitudinal component is parallel to the middle face of wheel and the intersection on ground.
Preferably, function as be applied at least one parameter of selecting the driving moment on the wheel with respect to the vertical range of main body, the operating condition of brake system that is connected to wheel and vehicle motor from the steering angle of described wheel, wheel calculates the described power that produces of transmitting.
According to a certain embodiments, the stage of the steering angle of wheel is measured in design, the described power that described transmission produces as the function calculation of this steering angle.
In another certain embodiments, the stage of described wheel with respect to the vertical range of main body measured in design, the power that produces as the function calculation transmission of this vertical range.
Advantageously, design detects the stage of the operating condition of the brake system be connected to wheel, the power that produces as the function calculation transmission of this operating condition.For example, when brake system stops, selecting first transport function, it is suitable for simulating the transmission of the driving type of the power relevant with main body, when brake system is worked, selects second transport function, and it is suitable for simulating the transmission of the resistance type of the power relevant with main body.
Advantageously, calculate the described power of transmitting generation by transport function being applied to the described power relevant with main body, wherein said transport function is represented described coupling arrangement.In a particular embodiment, by this transport function of at least one Application of Neural Network.
Preferably, described wheel is a driving wheel, and this method comprises that the engine of measuring vehicle is applied to the stage of the driving moment of described wheel, the described power that produces as the function calculation transmission of described driving moment.
According to one particular embodiment of the present invention, the described power relevant with main body is made up of described actual forces.Preferably, in this case, calculate the longitudinal force that is applied on the wheel and equal the power that actual forces produces through the coupling arrangement transmission.This helps especially simply handling, and its permission accurately determines to be applied to the power on the wheel under the most common wheel drive condition.
In another embodiment, method of the present invention comprises calculates the virtual driving force relevant with wheel, and it faces the retroaction of driving moment with representing,
The described power relevant with main body also depends on the described virtual driving force relevant with wheel, calculates described power as the virtual resistance relevant with wheel,
As the described virtual driving force relevant with wheel and described virtual with wheel relevant resistance function and calculate ground and be applied to described longitudinal force on the wheel.
This method is decomposed into two virtual component based on longitudinal force.In fact, can be used as wheel at any time and be subjected to two power of effect simultaneously in its contact region, ground: an empty driving force, in fact it can be driving action (acceleration) or interception (engine braking) corresponding to the effect that is delivered to wheel-this effect about effective displacement of vehicle, with an empty resistance, it is corresponding to interception, for example effect of the resistance to rolling of tire and motor vehicle braking system.These two virtual component are combined into the form of the actual longitudinal force of being transmitted by the contact region, find its determination data.Yet,, meet the specific distribution of power in the element that connects wheel and car body in the suspension for each component.For example, the element of cantilever, elastomeric joint, spring, vibroshock and wheel steering system.The situation that actual forces resolves into two virtual component can be considered the distribution that these are different, thereby one or more force measurements are determined actual forces exactly from suspension.The instantaneous value that is delivered to the moment of wheel from engine shaft calculates first component (virtual driving force).At least one actual forces of measuring from suspension and determine second component (virtual resistance) from the distribution of power, it is as the function of their starting points.
The virtual driving force relevant with wheel faced the retroaction of the driving moment that is applied to wheel with representing, but do not represent at least one drag effect that is applied to wheel, the resistance that is applied by brake system and/or in the resistance to rolling of the tire of contact region surface level for example, described drag effect (one or more) represented by virtual resistance.Advantageously, as the retroaction of total driving moment and calculate the described virtual driving force relevant with wheel by the power that described ground is applied to wheel.
Advantageously, the described power relevant with main body comprises the following stage:
Calculate the relevant driving force of virtual main body, this power can be passed through described coupling arrangement from wheel by the described virtual driving force relevant with wheel and is delivered at least one measurement point and produce,
As the function of the relevant driving force of described virtual main body, as the relevant described power relevant with main body of calculation of resistance of virtual main body, the resistance that described virtual main body is correlated with is in the surface level application of described at least one measurement point.
Preferably, method of the present invention comprises the stage of the steering angle of measuring wheel, as described virtual relevant driving force and/or the described virtual resistance relevant with wheel of main body of the function calculation of this steering angle.
Preferably, method of the present invention comprises to be measured the stage of wheel with respect to the vertical range of main body, as described virtual relevant driving force and/or the described virtual resistance relevant with wheel of main body of the function calculation of this vertical range.
These measurements can be considered wheel with respect to the physical location of main body and the corresponding construction of coupling arrangement, and this has improved the authenticity of power through the simulation of described coupling arrangement transmission.
Advantageously, can be applied to the described virtual driving force relevant by first transport function that will represent described coupling arrangement and calculate the described virtual relevant driving force of main body with wheel.Similarly, can be applied to the described virtual relevant resistance of main body by second transport function that will represent described coupling arrangement and calculate the described virtual resistance relevant with wheel.
Preferably, by described first function of at least one Application of Neural Network and/or second function.
The use of the neural network that discussion in the past (teach-in) relates to allows very accurately and truly with the transmission of half phenomenological mode analog force through coupling arrangement, thereby has especially considered the non-linear and resonance effect of transmitting.Preferably, the first nerves network is used to use first function, and the nervus opticus network is used to use second function.
Can carry out force measurement by each measurement point in suspension, especially the surface level at the abutment between Connection Element.Certainly, the simulation of power transmission must be considered the position of measurement point in the Connection Element between each measurement point and the wheel.Advantageously, described at least one measurement point comprises the tie point between Connection Element and the main body, and the actual forces of measurement is that the surface level at described tie point is applied to the power on the main body.
In one particular embodiment of the present invention, described coupling arrangement comprises the hub support that wheel is mounted thereto, be connected to the suspension forked frame or the arm of hub support, with at least one elastomeric joint, this elastomeric joint comprises two fixtures that connected by elastic body, first of described fixture is fixed to described suspension forked frame, and second of described fixture is fixed to main body, constitutes described at least one point that is connected to main body.
Advantageously, measure described actual forces by definite described elastomeric distortion.
Preferably, described actual forces is the vertical measurement that is parallel to vehicle.
The present invention also provides a kind of device, is used for determining to support that the ground of wheel is applied to the longitudinal force of motor vehicle wheel, and this vehicle comprises the coupling arrangement that connects wheel and vehicle body, it is characterized in that described device comprises:
Be used for device in the level measurement actual forces of at least one measurement point of described coupling arrangement,
Be used to calculate the power relevant with main body and be delivered to the device of the power that wheel produces through described coupling arrangement from described at least one measurement point, the wherein said power relevant with main body depends on described actual forces,
Be used to calculate the device that ground is applied to the described longitudinal force on the wheel, wherein this longitudinal force is as the function that transmits the described power that produces at least.
In a certain embodiments, be provided for measuring the device of described wheel turning angle, the described power that produces as the function calculation transmission of this steering angle.
In another certain embodiments, be provided for measuring the device of wheel, the described power that produces as the function calculation transmission of this vertical range with respect to the vertical range of main body.
In another certain embodiments, be provided for detecting the device of the operating condition of the brake system that is connected to wheel, the described power that produces as the function calculation transmission of this operating condition.
In another certain embodiments, the engine that is provided for measuring vehicle is applied to the device of the driving moment of wheel, the described power that produces as the function calculation transmission of this driving moment.
Advantageously, the inventive system comprises:
Be used to calculate the device of the virtual driving force relevant with wheel, this virtual driving force relevant with wheel is faced the retroaction of driving moment with representing,
Be used to calculate the device of the relevant driving force of virtual main body, the relevant driving force of this virtual main body is passed through described coupling arrangement by the described virtual driving force relevant with wheel and is delivered to described at least one measurement point and produces from wheel,
Be used for device as the described power relevant of the relevant calculation of resistance of virtual main body with main body, the relevant resistance of this virtual main body is as the function of the described actual forces driving force relevant with described virtual main body, use the relevant resistance of this virtual main body at the surface level of described at least one measurement point
Calculate the described power that produces by the transmission of described power of being correlated with as the virtual resistance gauge relevant with main body with wheel,
As the described virtual driving force relevant with described virtual the function calculation of relevant resistance goes out ground and is applied to described longitudinal force on the wheel with wheel with wheel.
Preferably, the device that is used to calculate the relevant driving force of virtual main body comprises the first nerves network.
Preferably, the device that is used to calculate the virtual resistance relevant with wheel comprises the nervus opticus network.
From the description of several specific embodiments of the present invention, will understand the present invention with reference to the accompanying drawings better and will more clearly manifest other purpose of the present invention, concrete feature and advantage, these embodiment that enumerate below only be exemplary rather than for the restriction purpose, wherein accompanying drawing is:
Fig. 1: partly shown the skeleton view of motor vehicles, these motor vehicles are designed for implementing the method for the deterministic force according to the present invention;
Fig. 2: the suspension forked frame (wishbone) of vehicle among Fig. 1, it cooperates with force measuring device;
Fig. 3: the synoptic diagram of the power of the method for consideration Fig. 4;
Fig. 4: the process flow diagram of the method that the vehicle of presentation graphs 1 is implemented;
Fig. 5: the coefficientoffriction between demonstration wheel and the road is as the figure of the function of wheel sliding speed Vg;
Fig. 6: power according to the present invention is determined the schematic functional block diagram of device, and this power determines that device is installed in the vehicle of Fig. 1;
Two neural networks of the device of Fig. 7 and Fig. 8: Fig. 6.
Fig. 1 has shown the front end of towed motor vehicles 1.More particularly shown the front axle 2 of vehicle 1, the other parts of vehicle 1 dot profile.In the composition of describing front axle 2,, therefore only described it half because front axle 2 is basic symmetries.
Each front-wheel 3 pivotally is installed on the hub support 4, and this hub support is supported by the main body 5 of vehicle 1 by suspension forked frame 6 and power support bar (force strut) 7.The suspended portion of main body 5 expression vehicles 1.In typical mode, power support bar 7 has two parts 7a, 7b, and these two parts can move relative to each other, and the bottom of bottom 7b is fixed to hub support 4, and the top of top 7a is fixed to main body.Transmission shaft 15 is connected to wheel 3, thereby will pass to wheel from the driving moment Γ of the engine (not shown) of vehicle 1.
Drag link 8 (track rod) connects the jociey stick 9 of hub support 4 and vehicle 1, thereby adjusts the direction of wheel 3.The steering pivot of wheel 3 and hub support 4 rotates around an end 6a of suspension forked frame 6 and takes place.The direction of wheel 3 determined by steering angle α, this steering angle α typically as vehicle 1 vertically and the middle face of wheel 3 vertically between angle and limit vertically representing of vehicle 1 wherein, vertically the representing of the middle face of wheel 3 by axis x by its axis X.In Fig. 1, wheel is oriented along straight-line travelling, thereby angle [alpha] can be ignored.
Hub support 4 also has caliper 10, and this caliper can tighten the brake(-holder) block 11 that (close) is connected to wheel 3, thus the braking latter's rotation.Caliper 10 is parts of typical service brake, and is controlled in known manner by hydraulic pressure or electric device (not shown).
In this example, suspension forked frame 6 has two basic vertical 6b of branch and 6c, can see these two branches in Fig. 2 better.Suspension forked frame 6 is connected to main body 5 by two shock-absorbing connections 12 and 13 at two tie point A and B, and described shock-absorbing connection for example is elasticity or hydraulic type.Shock-absorbing connection 12 comprises external fixator 12a and internal fixation part 12b, this external fixator is fixedly connected on the cylindrical seat of the mid point 6d that is arranged in suspension forked frame 6 substantially, this internal fixation part forms tie point A, and this tie point A is fixed to main body 5 by the bolt (not shown) that portion space within it engages.Shock-absorbing connection 13 is to be fixed to the other end 6e and the main body 5 of suspension forked frame 6 with joint 12 similar modes.Joint 12 has the measuring system 14 to the power sensitivity of transmitting.
With reference to figure 4, will describe now and be used to measure ground is applied to the power Fx of wheel 3 at vertical x of wheel first embodiment of algorithm.In conjunction with reference to figure 6, the electronic installation 40 on the instrument panel that is installed in the vehicle 1 of implementing this algorithm will be described.For the sake of clarity, this electronic installation 40 comes out less than perfect representation in Fig. 1.The parts of the stage of Fig. 4 and the Fig. 6 that is illustrated by the broken lines do not relate to first embodiment.
In the stage 20, measure the driving moment Γ that is applied to wheel 3 through transmission shaft 15.This driving moment Γ can be any direction, and this depends on whether this vehicle is in boost phase or engine braking stage.In other words, this driving moment Γ is that in fact this moment can have impetus to vehicle 1, perhaps opposite, has braking action by the moment of wheel 3 from the engine reception of vehicle.Torgue measurement detector 21 can the implementation phase 20, this detector cooperates with transmission shaft 15, to measure the algebraic value of driving moment Γ.Equally in known manner, the specific electron computing machine of engine also can be measured driving moment.
In the stage 22, use physical model to calculate empty driving force FMx, this driving force is the reacting force at driving moment Γ that is received from ground by wheel 3.In order to calculate this void driving force FMx, this physical model of use is that ground reacts on the whole driving moment Γ on the wheel, that is: FMx=Γ/R, and wherein R is the radius of wheel 3.The power FMx that calculates like this is a virtual force, and it only represents the effect of driving moment Γ.
The value of the driving moment Γ that computing module 23 provides from detector 21 is with implementation phase 22.
In the stage 25, calculate empty driving force FAMX from power FMx, this void driving force can be delivered to the tie point A of main body 5 and produce through hub support 4, suspension forked frame 6 and joint 12 by power FMx.Power FMAX is along vertical X orientation of vehicle 1.Carry out this calculating under the help of the first function F TD, wherein this first function representation connects the mechanical property of the coupling arrangement of wheel 3 and main body 5.This function F TD simulates by a kind of method in real mode, and this method comprises physical model and phenomenological method of approximation simultaneously.
In the stage 28, in order to consider that in function F TD the steering angle α of measurement wheel 3 and wheel 3 are with respect to the vertical hanging deviation z of main body 5.This vertical hanging deviation z is that predetermined point on the main body 5 is with respect to wheel 3 vertical range with the contact point on ground.
For example, when regarding the physical model of coupling arrangement as, joint 12 can be regarded the no frictional pivot of forked frame 6 around its pivot as, joint 13 can be regarded as the elastomeric spring with the stiffness K of the parallel installation of vibroshock, wherein this vibroshock produces the power of decay and has ratio of damping C, and the relative displacement speed of the fixture of the power of this decay and joint 13 is proportional.As the function of wheel 3, obtain empty driving force FAMX by solving one group of multi-form equation along the length travel d (t) of axis X:
{FAMX(t)＝G[Kd(t)+Cd′(t)]，
{FMx(t)＝Md″(t)+Cd′(t)]+Kd(t)
Wherein M represents the not sprung mass relevant with wheel 3, i.e. the quality of the assembly of the bottom 7b of basic composition wheel 3, hub support 4, suspension forked frame 6 and power support bar 7, and d ' is the time-derivative of representative function d (t) (t), and G represents the phenomenological weighting coefficient.
Coefficient G explains the unclear phenomenon of simulating in above-mentioned system of equations, be drag link 8 and power support bar 7 participate in the swivel adapter head between hub support 4 and forked frame 6 of the transmission of power, the friction of joint surface level-for example, elastomeric non-linear in the joint 12 and 13, and other phenomenon.
Can in frequency range, manage to solve above-mentioned system of equations with analyzing.Yet this method can not obtain enough result accurately.In fact implementation phase 25 under the help of first nerves network 26, first nerves network representative function FTD wherein, this function is more accurate than the result that linear analytical model obtains.The input of neural network 26 is vertical missing z of value, steering angle α and the wheel 3 of power FMx.To be described in detail subsequently.
Measure detector 24 by steering angle and measure steering angle α, wherein this detector cooperates with the jociey stick of vehicle 1.By the vertical missing z that detector 27 is measured with respect to preset reference position, the wherein part 7a of this detector measurement power support bar 7 and the relative displacement between the 7b.
In the stage 29, measure the actual forces FAX that is delivered to main body 5 by joint 12 along vertical X of vehicle 1.Can use various known methods to measure actual forces FAX.
In the stage 31, computing power FADX, this power is actual forces FAX and the difference of measuring in the stage 29 between the empty driving force FAMX of stage 25 measurements:
FADX＝FAX-FAMX
Power FADX is corresponding to empty driving force FAMX and effectively be delivered to difference between the actual forces FAX of main body.Therefore, power FADX is corresponding to the effect that is applied to the empty resistance FDx on the wheel 3 at joint 12 surface levels, especially when brake system starts under its effect, and under the resistance to rolling effect of the contact region between wheel 3 and the ground.
Can not be measured respectively generally speaking at power FADX and FAMX, they are virtual, but its summation FAX can measure.Certainly, when power FADX or FAMX vanishing, they are specific simple scenarios.For example, if engine and wheel 3 disconnects, for example disengagement by clutch coupling, the driving force FAMX vanishing that this is empty.
In the stage 33, as power FADX through joint 12, suspension forked frame 6 and hub support 4 from the result that the tie point A on the main body 5 is delivered to wheel 3, calculate empty resistance FDx from power FADX.The power FDx that calculates is along vertical x orientation of wheel 3.Carry out this and calculate under the help of the second function F TI, wherein this second function representative connects the power performance of the coupling arrangement of main body 5 and wheel 3.Be similar to the stage 25, function F TI simulates by a kind of method, and this method comprises physical model and phenomenological method of approximation simultaneously.
Yet function F TI can not derive by this function F of inverse transformation TD.Because empty driving force FMx produces different effects with empty resistance FDx.This is because for the mechanical system of being made up of the relevant not sprung masses of wheel 3, driving moment Γ can regard the external force that is applied to wheel 3 central authorities as, but loss or damping force comprise internal force simultaneously and is applied to the power of the contact region between wheel 3 and the ground.Therefore, function F TI must be independent of function F TD modeling.
In the stage 34, the steering angle α of measurement wheel 3 and wheel are with respect to the vertical missing z of main body 5, thereby they can cover among the function F TI.Stage 34 not necessarily separates with the stage 28.
Preferred implementation phase 33 under the help of another neural network 35, this neural network truly and has exactly been represented function F TI.This neural network 35 receives the value as the vertical missing z of power FADX, the steering angle α of input and wheel 3.To be described in detail subsequently.
In the stage 36, as from the empty driving force FMx in stage 22 and from the empty resistance FDx in stage 33 with computing power Fx:Fx=FMx+FDx.
By summation module 37 implementation phases 36, one of them output is connected to the output interface 38 of device 40, offers ABS or ESP backup system (not shown) on the instrument panel with the value of the Fx that exerts all one's strength.For example, device 40 is communicated by letter with such backup system through the internal data transfer network 39 of vehicle 1.
Fig. 3 has schematically shown consideration power FMx, and FAMX, FADX and FDx are used for deterministic force Fx.The value that Fx obtains is the estimated value very accurately of the longitudinal force that is delivered to wheel of the surface level in the contact region, ground.This estimated value is obtained under the help of electronic installation 40 in real time, by the operation and the timing sampling implementation phase of cycle period 20 to 36 of vehicle.For example measuring-signal is with the frequency sampling of 200HZ.
The functional module 23 of device 40,32 and 37 can make with the assembling form of electronic unit, the material of wherein said electronic unit is designed to be specifically designed to this purpose, perhaps make with the common assembling form of electronic unit, the for example common microprocessor card of the computer program of special-purpose programming, or the two combination.According to the present invention, computer program is one group of instruction code that can read or write from support program, and this instruction code can be carried out by computing machine or similar devices.
In Fig. 6, marked the parameter of their connection transmission for the connection between the various modules.
Referring now to the neural network 26 of Fig. 7 and Fig. 8 tracing device 40 and an embodiment of 35.In this example, the value of steering angle α is represented in input, does not comprise vertical missing z.
Neural network 26 and 35 is carried out the multitiered network circulation of state, and each all has input layer 26a separately, 35a, single hidden layer 26b separately, 35b and output layer 26c separately, 35c.
In the network 26 that Fig. 7 represents, input layer 26a has three neurons, and they receive the input signal of representative power FMx value respectively during being expressed as last three time increments of k-1, k-2, k-3, and wherein k calculates virtual force FAMX current time index constantly.Therefore, network 26 has the storer of the instruction 3 that is used to import.Input layer 26a also has three neurons, and they receive the input signal of corresponding three state variable X1, X2 and X3 respectively, and these three state variables obtain from storer 30 at last time increment k-1.At last, input layer 26a has the neuron that receives constant input signal c.
Hidden layer 26b is made up of two contrary flexure formula neuron and multichannel unit that have the linearity startup of bias voltage (bias).In these elements each all is connected to seven neurons of input layer 26a.
Output layer 26c is made up of a linear neuron that has bias voltage, wherein this neuron transmission is represented the output signal FAMX (k) of virtual force FAMX currency and is represented output signal X1 (k), X2 (k), the X3 (k) of currency, wherein the currency of this virtual force FAMX calculates when time increment k, output signal X1 (k), X2 (k), X3 (k) are respectively at three state variable X1, calculate when X2, the time increment k of X3.
The structure with network 26 is identical basically for the structure of network 35 among Fig. 8, except input layer 35a comprises three corresponding neurons of neuron receiving inputted signal FADX (k-1) rather than network 26, the virtual force FADX that this input signal FADX (k-1) representative is calculated when applying increment (k-1).Therefore, network 35 has the storer of the instruction 1 that is used to import.Output layer 35c has the linear neuron that has bias voltage rather than the corresponding neuron of network 26, and the output signal FDx (k) of the currency of virtual force FDx is represented in the neuron transmission of this output layer 35c.
Input and output signal is with the frequency sampling of 200HZ.The state that these two networks are 26 35 is an order 3, and promptly each in them all has three state variable X1, X2 and X3, and these three state variables are independent of the state variable of other network.
For in network 26 and 35 each, the neuronic coefficient that allows tracing function FTD and FTI respectively obtains from the conclusion of talking stage.The value of this coefficient determines that in the conclusion of this talking stage this talking stage carries out taking place before the work at device 30.
The first above-mentioned embodiment can determine to be applied to the longitudinal force on the wheel 3 in many cases, and these situations comprise complicated driving situation, and wherein very big driving force and very big resistance are applied on the wheel 3 simultaneously.
Use description to second embodiment of the method and apparatus of deterministic force now, this embodiment is simpler than first embodiment, it is suitable for determining to be applied to the longitudinal force on the wheel 3 under simple driving situation, just when driving force or damping force are zero or can ignore at least.
As mentioned previously, the driving force that produces as driving moment Γ is zero or compares with resistance that especially compare in the time of can ignoring with the power that the vehicle braked system applies, the algorithm of representing among Fig. 4 can be simplified by the omission stage 31.In this case, as arrow 131a and 131b indication, directly, the power FAX that measures obtains longitudinal force Fx, wherein the corresponding relevant resistance of the power FAX that measures with main body by being used transport function FTI.
Correspondingly, the resistance that applies when brake system is zero maybe can ignore the time, and the algorithm of representing among Fig. 4 can be simplified by the omission stage 22,31 and 33.In this case, as arrow 141 and 142 indications, directly obtain longitudinal force Fx from the power FAX that measures and the transport function of from the stage 125, using.
Use transport function in the stage 125, the coupling arrangement of the power FAX of its analogue measurement through connecting wheel 3 and main body 5 is delivered to wheel 3 from tie point A, so the relevant driving force of the corresponding main body of the power of this measurement.On mathematics, this function is the inverse function that is used for the function F TD of first embodiment.As arrow 143 indication, can advantageously calculate described inverse transfer function as the function of driving moment Γ.
In order to determine whether to be in above-mentioned first or second simple scenario, can use the logical indicator of brake system operation, but for example show indicator that rear brake lamp is opened or perception brake pedal indicator along its route displacement.
Suppose that he is common when the driver starts brake system and quicken not obviously, when brake system is moved, select execute phase 131a, 33 and 131b, when stopping, brake system selects the execute phase 141,125 and 142.
Be used for realizing that the electronic installation 140 on the instrument panel of this shortcut calculation is illustrated in Fig. 6, wherein in a second embodiment, omitted parts 23,32 and 37, increased the element that dotted line is represented.
The logical variable L that measuring system 114 receives as input, the brake system of this variable indication wheel 3 is operations or stops.Consider driving moment Γ, this measuring system 114 has two signal output 132a and 132b, these two signal outputs are connected respectively to neural network 35 and neural network 1 26, and this neural network 1 26 is designed to use transport function, and this transport function is the inverse function of function F TD.This measuring system 114 has the output translator (not shown), when brake system is moved, this output translator is transformed into selection output 132a as the function of variables L, the value of power Fx is delivered to output interface 38 by connecting 114 in this case, when brake system stops, be transformed into and select output 132b, the value of power Fx is delivered to output interface 38 by connecting 145 in this case.
Verified above-mentioned method and apparatus by comparing with direct measurement, this method and apparatus provides the estimated value of longitudinal force Fx, and the square error of this value is less than 2%.
Although the above embodiments relate to the driving wheel of towing vehicle, this method and apparatus also is suitable for the driving wheel of propelled vehicles.Vehicle also can be equipped and surpass a device 40 or 140, thereby determines the power that its each driving wheel is subjected to.And this method and apparatus can be suitable for driven (non-active) takes turns, and can omit the stage of obtaining and handling and the parts of corresponding driving force in this case.
Described the present invention although got in touch many specific embodiments, significantly, the present invention is not limited to these embodiment, but within the scope of the invention, comprises all equivalent technologies and the combination thereof of described method.

Claims (21)

1. a ground that is used for determine supporting wheel is applied to the method for the longitudinal force (Fx) on the wheel (3) of motor vehicles (1), described vehicle comprises the coupling arrangement (4,6,12 that connects wheel and described vehicle body (5), 13), it is characterized in that described method comprises the following stage:
At least one measurement point (A) level measurement (29) actual forces (FAX) in described coupling arrangement (4,6,12,13),
Calculate (33; 125) power relevant with main body (FADX, FAX) through described coupling arrangement from described at least one measurement point be delivered to described wheel and the power that produces (FDx, Fx), the wherein said power relevant with main body depends on described actual forces at least,
Power (FDx as described at least transmission generation; Fx) function, calculating (36) described ground is applied to the described longitudinal force (Fx) on the wheel.
2. method according to claim 1 is characterized in that:
As steering angle (α) from described wheel, wheel (3) is with respect to the vertical range (z) of main body (5), be connected to the operating condition of the brake system (10) of wheel, be applied to the function of at least one parameter of selecting in the driving moment (Γ) on the wheel with vehicle motor, calculate and transmit the described power (FDx that produces; Fx).
3. method according to claim 1 and 2 is characterized in that:
It comprises the steering angle (α) of measuring wheel and the described power (FDx that described transmission produces as the function calculation of this steering angle; Fx) stage (28,34).
4. according to the described method of the arbitrary claim of claim 1-3, it is characterized in that:
It comprises measures described wheel (3) with respect to the vertical range (z) of described main body (5) and the described power (FDx that produces as the function calculation transmission of this vertical range; Fx) stage (28,34).
5. according to the described method of the arbitrary claim of claim 1-4, it is characterized in that:
It comprises the operating condition (L) that detects the brake system (10) be connected to described wheel and the described power (FDx that produces as the function calculation transmission of this operating condition; Fx) stage.
6. according to the described method of the arbitrary claim of claim 1-5, it is characterized in that:
(FADX FAX) calculates the described power (FDx that transmits generation by transport function (33,125) being applied to the described power relevant with main body; Fx), wherein said transport function is represented described coupling arrangement (4,6,12,13).
7. method according to claim 6 is characterized in that:
By at least one neural network (35; 126) use this transport function.
8. according to the described method of the arbitrary claim of claim 1-7, it is characterized in that:
Described wheel (3) is a driving wheel, and this method comprises that the engine of measurement (20) vehicle is applied to the driving moment (Γ) of described wheel, the described power (FDx that produces as the function calculation transmission of described driving moment (Γ); Fx) stage.
9. according to the described method of the arbitrary claim of claim 1-8, it is characterized in that:
The described power relevant with main body is made up of described actual forces (FAX).
10. method according to claim 8 is characterized in that:
It comprises the driving force (FMx) relevant with wheel that calculating (22) is virtual, and the retroaction of described driving moment is faced in its representative describedly,
The described power (FADX) relevant with main body also depends on the described virtual driving force (FMx) relevant with wheel,
Calculate the described force that (33) spend the transmission generation of described power of being correlated with main body as the virtual resistance (FDx) relevant with wheel, and
As the described virtual driving force (FMx) relevant with wheel and described virtual with wheel relevant resistance (FDx) function and calculate (36) and go out ground and be applied to described longitudinal force (Fx) on the wheel.
11. method according to claim 11 is characterized in that:
The calculating of the described power (FADX) relevant with main body comprises the following stage:
Calculate the relevant driving force (FAMX) of (25) virtual main body, this power can be passed through described coupling arrangement (4,6,12,13) from wheel by the described virtual driving force (FMx) relevant with wheel and is delivered at least one measurement point and produce,
As the function of described actual forces (FAX) driving force (FAMX) relevant with virtual main body, the resistance (FADX) relevant as virtual main body calculates (31) described power relevant with main body,
The described virtual relevant resistance of main body is used at the surface level of described at least one measurement point (A).
12., it is characterized in that according to the described method of the arbitrary claim of claim 1-11:
Described at least one measurement point comprises the tie point (A) between described Connection Element (4,6,12,13) and the described main body (5), and the actual forces of measurement (FAX) is that the surface level at described tie point is applied to the power on the main body.
13. method according to claim 11 is characterized in that:
Described coupling arrangement comprises the hub support (4) that wheel (3) is mounted thereto, be connected to the suspension forked frame or the arm (6) of hub support, with at least one elastomeric joint (12), this elastomeric joint comprises two fixtures that connected by elastic body (12c), first of described fixture (12a) is fixed to described suspension forked frame (6), and second (12b) of described fixture is fixed to main body (5) and constitutes described at least one point (A) that is connected to main body.
14. method according to claim 13 is characterized in that:
Measure described actual forces (FAX) by the distortion of determining described elastic body (12c).
15., it is characterized in that according to the described method of the arbitrary claim of claim 1-14:
Described actual forces (FAX) is that vertical (X) that be parallel to described vehicle (1) measures.
16. a ground that is used for determine supporting wheel is applied to the device (40) of longitudinal force (Fx) of the wheel (3) of motor vehicles (1), described vehicle comprises the coupling arrangement (4,6,12 that connects wheel (3) and vehicle body (5), 13), it is characterized in that described device comprises:
The device (14) that is used for the level measurement actual forces (FAX) of at least one measurement point (A) in described coupling arrangement (4,6,12,13),
Be used to calculate the power (FADX relevant with main body; FAX) be delivered to described wheel and the power (FDx that produces through described coupling arrangement from described at least one measurement point; Fx) device (35; 126), the wherein said power relevant with main body depends on described actual forces (FAX),
Be used to calculate the device (37,144,145) that ground is applied to the described longitudinal force (Fx) on the wheel (3), wherein this longitudinal force is as transmitting the described power (FDx that produces at least; Fx) function.
17. device according to claim 16 is characterized in that:
It comprises the described power (FDx that is used to measure described wheel (3) steering angle (α) and produces as the function calculation transmission of described steering angle; Fx) device (24).
18., it is characterized in that according to claim 16 or 17 described devices:
It comprises and is used to measure described wheel (3) with respect to the vertical range (z) of described main body (5) and the described power (FDx that produces as the function calculation transmission of described vertical range; Fx) device (27).
19., it is characterized in that according to the described device of the arbitrary claim of claim 16-18:
It comprises the operating condition (L) that is used for detecting the brake system (10) be connected to described wheel (3) and the described power (FDx that produces as the function calculation transmission of described operating condition; Fx) device (114).
20., it is characterized in that according to the described device of the arbitrary claim of claim 16-19:
It comprises that the engine that is used to measure described vehicle is applied to the driving moment (Γ) of described wheel (3) and the described power (FDx that produces as the function calculation transmission of described driving moment (Γ); Fx) device (21).
21. device according to claim 20 is characterized in that it comprises:
Be used to calculate the device (23) of the virtual driving force (FMx) relevant with wheel, this virtual driving force relevant with wheel is faced the retroaction of described driving moment (Γ) with representing,
Be used to calculate the device (26) of the relevant driving force (FAMX) of virtual main body, the driving force that this virtual main body is correlated with is by described virtual driving force (FMx) the process described coupling arrangement (4,6,12 relevant with wheel, 13) be delivered to described at least one measurement point and produce from wheel (3)
Be used for calculating the device (32) of the described power relevant with main body as the relevant resistance (FADX) of virtual main body, the relevant resistance of this virtual main body is as the function of described actual forces (FAX) driving force (FAMX) relevant with described virtual main body, use the relevant resistance (FADX) of this virtual main body at the surface level of described at least one measurement point (A)
As the virtual resistance (FDx) relevant with wheel calculate the described power that produces by the transmission of the relevant power of described and main body and
As the described virtual driving force (FMx) relevant with described virtual the function calculation of relevant resistance (FDx) goes out described ground and is applied to described longitudinal force (Fx) on the described wheel (3) with wheel with wheel.
CNB038182505A 2002-07-31 2003-07-30 Method and device for determining a force exercised by the ground on a wheel Expired - Fee Related CN100380108C (en)

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AU2003269079A1 (en) 2004-02-23
EP1552259A2 (en) 2005-07-13
AU2003269079A8 (en) 2004-02-23
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US20050212356A1 (en) 2005-09-29
US7055917B2 (en) 2006-06-06

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